RMVTracker6DOF.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_RMV_TRACKER_6DOF_H
#define META_OCEAN_DEVICES_RMV_TRACKER_6DOF_H
 
#include "ocean/devices/rmv/RMV.h"
#include "ocean/devices/rmv/RMVDevice.h"
 
#include "ocean/base/Thread.h"
 
#include "ocean/devices/ObjectTracker.h"
#include "ocean/devices/Tracker6DOF.h"
#include "ocean/devices/VisualTracker.h"
 
#include "ocean/geometry/Geometry.h"
 
#include "ocean/tracking/rmv/RMVFeatureTracker6DOF.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace RMV
{
 
/**
 * This class implements an RMV feature based tracker.
 * @ingroup devicesrmv
 */
class OCEAN_DEVICES_RMV_EXPORT RMVTracker6DOF :
    virtual public RMVDevice,
    virtual public Tracker6DOF,
    virtual public ObjectTracker,
    virtual public VisualTracker,
    protected Thread
{
    friend class RMVFactory;
 
    public:
 
        /**
         * Adds a new tracking pattern.
         * For this RMV feature based tracker the pattern must be the url of an image.
         * @see ObjectTracker::registerObject().
         */
        ObjectId registerObject(const std::string& name, const Vector3& dimension) override;
 
        /**
         * Returns whether this device is active.
         * @see Devices::isStarted().
         */
        bool isStarted() const override;
 
        /**
         * Starts the device.
         * @see Device::start().
         */
        bool start() override;
 
        /**
         * Stops the device.
         * @see Device::stop().
         */
        bool stop() override;
 
        /**
         * Returns whether a specific object is currently actively tracked by this tracker.
         * @see Tracker::isObjectTracked().
         */
        bool isObjectTracked(const ObjectId& objectId) const override;
 
        /**
         * Returns the name of this tracker.
         * @return Tracker name
         */
        static inline std::string deviceNameRMVTracker6DOF();
 
        /**
         * Returns the device type of this tracker.
         * @return Device type
         */
        static inline DeviceType deviceTypeRMVTracker6DOF();
 
    private:
 
        /**
         * Creates a new RMV feature based 6DOF tracker object.
         */
        RMVTracker6DOF();
 
        /**
         * Destructs an RMV feature based 6DOF tracker object.
         */
        ~RMVTracker6DOF() override;
 
        /**
         * Thread function.
         * @see Thread::threadRun().
         */
        void threadRun() override;
 
    private:
 
        /// Frame timestamp.
        Timestamp frameTimestamp_;
 
        /// Internal 6DOF tracker object.
        Tracking::RMV::RMVFeatureTracker6DOF featureTracker_;
 
        /// Random generator.
        RandomGenerator randomGenerator_;
 
        /// The unique object id of this tracker.
        ObjectId uniqueObjectId_ = invalidObjectId();
};
 
inline std::string RMVTracker6DOF::deviceNameRMVTracker6DOF()
{
    return std::string("RMV Feature Based 6DOF Tracker");
}
 
inline RMVTracker6DOF::DeviceType RMVTracker6DOF::deviceTypeRMVTracker6DOF()
{
    return DeviceType(RMVTracker6DOF::deviceTypeTracker6DOF(), TRACKER_VISUAL | TRACKER_OBJECT);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_RMV_TRACKER_6DOF_H